An anthropomorphic manipulator robot with a spherical wrist (6 DOF), simulated, programmed and controlled with Open Source tools from the Python environment.

In the AgnesCAD directory are the solids generated in Solid Works v2022 (student license). In the Agnes folder there is a python file "visualize_agnes.py" that, when run, opens the Pybullet simulator with the URDF content. In addition to containing a folder called "URDF", where we have all the .STL of the links of the robot and the file "agnes.urdf.xml" that serves as the URDF of our robot.

In this project we use an Anaconda Enviroment called 'robotics'. You can create it as follows:

# conda create -n robotics python=3

# conda activate robotics

(In both options you have to have your conda enviroment activated), we recommend follow the Option 2. Option 1:

# pip install pybullet

Option 2:

conda install -c conda -forge pybullet

In a terminal or a Conda Prompt (Windows), please activate the enviroment that you create and run the comand

# python visualize_agnes.py